Y_GroupJogJoint
This function block jogs a Group's Joint in the Axis Coordinate System (ACS).
Parameters
| * | Parameter |
Data Type | Description | Default |
|---|---|---|---|---|
|
VAR_IN_OUT
|
||||
| B |
AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Enable |
BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| V |
JointIndex |
UINT | Refer to the Hardware Configuration's group definition chart which shows the Index for each of the axes in the group. | UINT#0 |
| B |
Velocity |
LREAL | Velocity in degrees/sec. | LREAL#0.0 |
| B |
Acceleration |
LREAL | Acceleration in degrees/sec. | LREAL#0.0 |
| B |
Deceleration |
LREAL | Deceleration in degrees/sec. | LREAL#0.0 |
| E |
Jerk |
LREAL | Not supported; reserved for future use. Value of the jerk in [user units / second^3]. | LREAL#0.0 |
| V | MoveOptions |
Yt_GroupMoveOptions | Commands to specify the pose of a robot mechanism, set Cartesian or rotational velocity, velocity units, etc. | All zeros in structure |
| E | Direction |
MC_Direction | Specifies the direction of motion. Allowable modes are positive_direction, shortest_way, negative_direction, current_direction.
MC_Direction#Positive_Direction
MC_Direction#Shortest_Way
MC_Direction#Negative_Direction
MC_Direction#Current_Direction Only Positive and Negative are supported for groups. |
MC_Direction#Positive_Direction |
| B | BufferMode |
MC_BufferMode | Defines the behavior of the axis - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh. | MC_BufferMode#Aborting |
| VAR_OUTPUT | ||||
| B |
InVelocity |
BOOL | Set high when the axes first reaches the specified velocity(function is complete). If the function is given a new velocity, the output will go low again until new requested velocity is reached. | |
| B |
Valid |
BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| B |
Busy |
BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| E | Active |
BOOL | For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value. | |
| E | CommandAborted |
BOOL | Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. |
|
| E |
ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
|
Notes
- Use Y_GroupReadJointIndex to obtain the JointIndex given the Joint/Label name.
- Setting Enable low will cause the specified Joint to stop jogging.
- For MotomanSync robot groups, the minimum time the Joint will jog is 100 mSec.
Error Description
See the Function Block ErrorID List.